Real-time needle shape prediction in soft-tissue based on image segmentation and particle filtering
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Prostate brachytherapy is a current technique used to treat cancerous tissue in the prostate by permanently implanting radioactive seeds through the use of long flexible needles. This paper proposes a real-time method to predict the shape of a flexible needle inserted into soft tissue using axial Transrectal Ultrasound (TRUS) image segmentation and a non-holonomic bicycle model informed via particle filter. The needle location is tracked in TRUS images to capture the needle shape up to a specified depth. Through the use of a particle filter the noisy tracked needle shape is used to update the parameters of a kinematic bicycle model in a robust manner to predict the shape of the entire needle after it is fully inserted. The method is verified in both ex-vivo beef phantom tissue and in-vivo clinical images, yielding an average tip prediction error of less that 0.5 mm in both the ex-vivo and in-vivo image sets with a peak processing time of less than 9.5 ms per image frame.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it